odri_bolt_robot is a repository that enables controlling and simulating the Bolt robot from the [Open Dynamics Robot Initiative] through the ros2_control infrastructure. It allows to have bolt displayed through rviz, provides the access to the ros2_controllers. The most notorious is joint_state_broadcaster which provides the topic /joint_states for free. It is then possible the node robot_state_publisher to have the TF-2 tree of the Bolt robot and to display it on rviz.

We provide also a gazebo plugin in order to simulate the robot in the famous Gazebo simulator.

The install procedure is described in details here.

doc - a set of tutorials to start, calibrate and launch Bolt.

position_velocity_effort_gain_controller - a ROS2 package in which is implemented a simple controller that enables to send position, velocity, effort and gain commands to the robot, with the specific hardware interface.

odri_bolt_bringup - contains files that enable to launch Bolt within its GUIs, and with it hardware interfaces and controllers.

odri_bolt_description - contains files necessary to describe, create and visualize Bolt with Rviz and Gazebo. It stores URDF-description files, rviz configurations and meshes for the demo robots.

This repository relies on the ros2_hardware_interface_odri which is a ros2_control driver for the ODRI board.

• Maxime-Ulrich Fansi (04/2022-09/2022) - First working version of gazebo_bolt_ros2_control
• Benjamin Amsellem (10/2021-02/2022) - First working version of ros2_hardware_bolt
• Paul Rouanet - (03/2021-09/2021) - Building the LAAS Bolt, starting this repo
• Olivier Stasse (03/2021 - Supervision)